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1. MorphoSymm MorphoSymm Public

   Tools for exploiting Morphological Symmetries in robotics

   Python 108 5

2. DynamicsHarmonicsAnalysis DynamicsHarmonicsAnalysis Public

   Code for "Dynamics Harmonics Analysis of Robotic Systems: Application in Data-Driven Koopman Modeling", enabling the modeling of symmetric dynamical systems with decomposed Koopman operators per ea…

   Python 20 2

3. iit-DLSLab/Quadruped-PyMPC iit-DLSLab/Quadruped-PyMPC Public

   A model predictive controller for quadruped robots based on the single rigid body model and written in python. Gradient-based (acados) or Sampling-based (jax)

   Python 522 70

4. iit-DLSLab/gym-quadruped iit-DLSLab/gym-quadruped Public

   Mujoco Gym environment for the control of quadruped robots

   Python 80 19

5. robotiq_2finger_grippers robotiq_2finger_grippers Public

   ROS packages enabling the control, visualization and simulation of the Robotiq 2 Fingers Adaptive Grippers model version C3

   Python 126 57

6. symmetric_learning symmetric_learning Public

   Torch-based library for ML problems with symmetry priors. It provides equivariant neural network modules, models, and utilities for leveraging group symmetries in data.

   Python 13 1